Understanding 2D rotation matrices
When I first a^2 + b^2 learned about rotation matrices they appeared quite “magic”; if you squinted your eyes a bit it sort of made sense, and if you did the math you could prove that the matrix does indeed perform the rotation and that all the group properties are met, but none of that explains where that form comes from, why it works. In this blog post I will explore a way to derive the formula for rotation matrices step by step. If you wish to follow along you need only basic knowledge of linear algebra and trigonometry.